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Title:New positioning system for the CSL Robotics Laboratory Testbed
Author(s):Lopez-Morales, Wilfredo
Advisor(s):Stipanović, Dušan M.; Hutchinson, Seth A.
Contributor(s):Stipanović, Dušan M.; Hutchinson, Seth A.
Department / Program:Electrical and Computer Engineering
Discipline:Electrical and Computer Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):robotic testbed vision positioning CSL
Abstract:A new positioning system is proposed for the B16 Robotics Laboratory testbed. The system is vision based and distributed. Each mobile agent is responsible for solving its individual positioning problem. The modified algorithm implements detection and identification techniques for position markers, following a template matching approach. Two modes of operation are implemented, Barycentric and Change of Axes. The new system is able to calculate position using the two methods, and 90% or more of the data points collected in each set lie within 0.05 units from true position. Heading is also calculated, but further testing is needed to fully asses its performance. The concept for the new positioning system is validated. The system achieves partial functionality and acceptable performance. However, it has not yet reached the potential necessary to replace the current system.
Issue Date:2010-01-06
URI:http://hdl.handle.net/2142/14681
Rights Information:Copyright 2009 Wilfredo Lopez-Morales
Date Available in IDEALS:2010-01-06
Date Deposited:December 2


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